Related papers: Optimal cooperative motion planning for vehicles a…

Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…

The increasing deployment of robots in co-working scenarios with humans has revealed complex safety and efficiency challenges in the computation robot behavior. Movement among humans is one of the most fundamental -- and yet critical --…

The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…

Motion planning for urban environments with numerous moving agents can be viewed as a combinatorial problem. With passing an obstacle before, after, right or left, there are multiple options an autonomous vehicle could choose to execute.…

Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals…

In general, there are two kinds of cooperative driving strategies, planning based strategy and ad hoc negotiation based strategy, for connected and automated vehicles (CAVs) merging problems. The planning based strategy aims to find the…

The paper addresses the problem of providing suitable reference trajectories in motion planning problems for autonomous vehicles. Among the various approaches to compute a reference trajectory, our aim is to find those trajectories which…

In this paper, we consider the problem of coordinating traffic light systems and connected automated vehicles (CAVs) in mixed-traffic intersections. We aim to develop an optimization-based control framework that leverages both the…

Urban intersections, merging roadways, roundabouts, and speed reduction zones along with the driver responses to various disturbances are the primary sources of bottlenecks in corridors that contribute to traffic congestion. The…

This paper addresses the traffic management problem for autonomous vehicles at intersections without traffic signals. In the current system, a road junction has no traffic signals when the traffic volume is low to medium. Installing…

The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…

We deal with the problem of planning collision-free trajectories for robots operating in a shared space. Given the start and destination position for each of the robots, the task is to find trajectories for all robots that reach their…

In this paper, we investigate cooperative vehicle coordination for connected and automated vehicles (CAVs) at unsignalized intersections. To support high traffic throughput while reducing computational complexity, we present a novel…

This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incrementally revealed online, e.g., through line-of-sight…

Connected automated driving has the potential to significantly improve urban traffic efficiency, e.g., by alleviating issues due to occlusion. Cooperative behavior planning can be employed to jointly optimize the motion of multiple…

Connected vehicles will change the modes of future transportation management and organization, especially at an intersection without traffic light. Centralized coordination methods globally coordinate vehicles approaching the intersection…

Recent work in decentralized, schedule-driven traffic control has demonstrated the ability to improve the efficiency of traffic flow in complex urban road networks. In this approach, a scheduling agent is associated with each intersection.…

The cooperation of connected and automated vehicles (CAVs) has shown great potential in improving traffic efficiency during intersection management. Existing research mainly focuses on intersections where lane changing is prohibited, which…

This paper proposes a centralized multi-vehicle coordination scheme serving unsignalized intersections. The whole process consists of three stages: a) target velocity optimization: formulate the collision-free vehicle coordination as a…

The development of connected and automated vehicles is the key to improving urban mobility safety and efficiency. This paper focuses on cooperative vehicle management at a signal-free intersection with consideration of vehicle modeling…